A target angle estimation method, system and storage medium

Abstract

The application provides a target angle estimation method, system and storage medium. The method comprises the following steps: constructing a center frequency list based on a preset frequency hopping interval and a preset frequency hopping number; acquiring a second transmission frequency of a radar working mode and a first transmission frequency of a radar calibration mode based on the center frequency list; acquiring first phase information of a preset angle in the radar calibration mode based on the first transmission frequency; acquiring second phase information of the second transmission frequency based on the first phase information; and estimating target angle information in the radar working mode based on the second phase information. The method provided by the application effectively improves the accuracy of radar angle estimation in the case of mutual interference of radars in multiple working states.

Description

Technical Field

[0001] This application belongs to the field of radar signal processing technology, specifically relating to a target angle estimation method, system, and storage medium. Background Technology

[0002] Millimeter-wave radar is increasingly widely used in automotive, military, and other fields due to its high resolution and excellent target detection and parameter estimation capabilities. However, when multiple millimeter-wave radars are operating simultaneously in an environment, the radar may receive interference signals from other radars while receiving the target's reflected signal, leading to missed detections and false detections.

[0003] When the frequency modulation slopes of the detection radar and the jamming radar differ, a small portion of the jamming signal may fall within the bandwidth of the detection radar's filter. In this case, the jamming signal increases the noise level at the bottom of the radar's received signal, thus affecting target detection and potentially leading to missed or false detections. When the frequency modulation slopes of the detection radar and the jamming radar are exactly the same, the jamming signal falls almost entirely within the bandwidth of the detection radar's filter. In this case, the radar may generate false targets, causing serious false detection problems.

[0004] To address the mutual interference between millimeter-wave radars operating in multiple states, frequency hopping is commonly used for anti-interference. However, frequency hopping causes a change in the radar's transmission center frequency, leading to accuracy errors in millimeter-wave radar angle estimation. Summary of the Invention

[0005] To address the aforementioned technical problems, this application proposes a target angle estimation method, system, and storage medium that can effectively ensure the accuracy of radar target angle estimation.

[0006] Specifically, this application proposes a target angle estimation method, wherein the target angle estimation method pre-constructs a center frequency list based on a preset frequency hopping interval and a preset number of frequency hopping, and the target angle estimation method includes:

[0007] Obtain the second transmission frequency of the radar operating mode and obtain the first transmission frequency of the radar calibration mode based on the center frequency list.

[0008] Based on the first transmission frequency, the first phase information at a preset angle in radar calibration mode is obtained.

[0009] The second phase information of the second transmission frequency is obtained based on the first phase information.

[0010] And, based on the second phase information, the target angle information under the radar operating mode is estimated.

[0011] In the above technical solution, a center frequency list is constructed by presetting the frequency hopping interval and the number of frequency hopping. The first transmission frequency of the radar calibration mode is obtained from the center frequency list. Due to the frequency hopping design, the radar transmission frequency can change continuously during operation, thereby effectively reducing mutual interference between adjacent radars and reducing target angle estimation errors. The second phase information of the second transmission frequency is obtained through the first phase information, which can effectively compensate for the phase information difference caused by the change of radar transmission frequency, thereby further improving the accuracy of target angle information estimation.

[0012] As one implementation, obtaining the first transmission frequency of the radar calibration mode based on the center frequency list includes: selecting any center frequency from the center frequency list as the first transmission frequency of the radar calibration mode.

[0013] By pre-constructing a center frequency list based on a preset frequency hopping interval and a preset number of frequency hopping, and selecting any center frequency from the center frequency list as the first transmission frequency, compared to a non-frequency hopping design, randomly selecting a center frequency from the list can further reduce the probability of being on the same frequency as other radars at the same time, effectively reducing the possibility of radar interference.

[0014] Furthermore, based on the first transmission frequency, first phase information at a preset angle in radar calibration mode is obtained, including:

[0015] Phase information at different angles in radar calibration mode is acquired based on the first transmission frequency and stored in the radar device; corresponding first phase information is acquired from the radar device based on a preset angle.

[0016] By acquiring and storing phase information at different angles at the first transmission frequency, a rich database can be provided for subsequent target angle estimation. The radar equipment can acquire more comprehensive phase information, and thus, when faced with complex situations, it can effectively utilize existing data to make accurate angle estimations. This can effectively reduce the risk of angle estimation inaccuracies caused by environmental changes or equipment errors in actual work.

[0017] Furthermore, obtaining second phase information for the second transmission frequency based on the first phase information includes:

[0018] A phase information expression is constructed based on the preset array element spacing, the preset angle, and the wavelength parameter of the transmission frequency; a first wavelength parameter of the first transmission frequency is obtained; and a first phase information expression is obtained based on the first wavelength parameter.

[0019] Obtain the second wavelength parameter of the second transmission frequency; obtain the wavelength difference based on the first wavelength parameter and the second wavelength parameter; obtain the second phase information expression based on the wavelength difference and the first phase information expression; obtain the second phase information based on the second phase information expression.

[0020] Furthermore, obtaining the second phase information of the second transmission frequency based on the first phase information also includes:

[0021] The final phase information expression is constructed based on the first phase information expression and the second phase information expression.

[0022] The first phase information of the first transmission frequency can be obtained by acquiring the second phase information of the second transmission frequency. In other words, the phase information at the corresponding frequency can be obtained when the frequency is hopping, and the target angle can be estimated based on the phase information.

[0023] Furthermore, the step of estimating the target angle information under radar operating mode based on the second phase information includes:

[0024] A phase difference is obtained based on the first phase information and the second phase information; the second phase information is phase compensated based on the phase difference using the final phase information expression to obtain the final phase information; and the target angle information in the radar operating mode is estimated based on the final phase information.

[0025] By introducing the phase difference between the second and first phase information, the actual position and orientation of the target can be described more accurately. After phase compensation processing, the final phase information better reflects the target position, reducing errors and significantly improving the accuracy of target angle estimation. Phase compensation processing can effectively offset phase errors caused by external environmental factors. This allows radar equipment to effectively track targets and estimate angles even in dynamic and complex operating environments, reducing the possibility of signal loss or increased errors.

[0026] Based on the same inventive concept, this application also proposes a system for estimating target angles, the system comprising:

[0027] The frequency acquisition module is used to acquire the second transmission frequency of the radar operating mode and the first transmission frequency of the radar calibration mode based on the center frequency list.

[0028] The first phase information acquisition module is used to acquire first phase information at a preset angle in radar calibration mode based on the first transmission frequency.

[0029] The second phase information acquisition module is used to acquire second phase information of the second transmission frequency based on the first phase information.

[0030] And an angle estimation module, used to estimate the target angle information in the radar operating mode based on the second phase information.

[0031] Furthermore, before the frequency acquisition module, there is also a frequency list construction module, which is used to pre-construct a center frequency list based on a preset frequency hopping interval and a preset number of frequency hopping.

[0032] The angle estimation module further includes a final phase information acquisition module, which is used to acquire a final phase information expression based on the first phase information expression and the second phase information expression; acquire a phase difference based on the first phase information and the second phase information; and perform phase compensation processing on the second phase information based on the phase difference and the final phase information expression to obtain the final phase information.

[0033] Based on the same inventive concept, this application also proposes a computer-readable storage medium storing computer-executable instructions, which, when executed by a control processor, implement the target angle estimation method.

[0034] Compared with the prior art, this application has at least the following beneficial effects:

[0035] This application effectively solves the technical problem of target angle estimation accuracy errors in frequency hopping design for anti-interference under conditions of mutual interference between radars in multiple operating states. A center frequency list is constructed by pre-setting the frequency hopping interval and the number of frequency hopping cycles. The first transmission frequency of the radar calibration mode is obtained from this center frequency list. Due to the frequency hopping design, the radar transmission frequency can continuously change during operation, thereby effectively reducing mutual interference between adjacent radars and reducing target angle estimation errors. The second phase information of the second transmission frequency is obtained through the first phase information, which effectively compensates for the phase information differences caused by changes in the radar transmission frequency, thereby further improving the accuracy of target angle information estimation. Attached Figure Description

[0036] Figure 1 This is a flowchart illustrating the target angle estimation method in an embodiment of this application.

[0037] Figure 2 This is a schematic diagram of a target angle estimation system shown in an embodiment of this application. Detailed Implementation

[0038] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0039] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or server that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

[0040] Example 1:

[0041] Please refer to Figure 1 The target angle estimation method pre-constructs a center frequency list based on a preset frequency hopping interval and a preset number of frequency hopping. The target angle estimation method mainly includes steps S100 to S400.

[0042] Step S100 includes: obtaining the second transmission frequency of the radar operating mode and obtaining the first transmission frequency of the radar calibration mode based on the center frequency list. The radar can primarily be a MIMO (Multiple-Input Multiple-Output) radar, and the first and second transmission frequencies can primarily be used for the radar system to transmit Linear Frequency Modulation Continuous Wave (LFMCW), but are not limited to this.

[0043] Step S200 includes: acquiring first phase information at a preset angle in radar calibration mode based on the first transmission frequency. This primarily involves acquiring channel phase information of the radar at different angles using the first transmission frequency and storing this channel phase information in the radar. The first phase information at the preset angle is then retrieved from the stored channel phase information according to the preset angle.

[0044] Step S300 includes: obtaining second phase information of the second transmission frequency based on the first phase information. This can be achieved by constructing a phase information expression based on the first phase information, and then obtaining the second phase information of the second transmission frequency based on the phase information expression.

[0045] Furthermore, step S400 includes: estimating target angle information under radar operating mode based on the second phase information. The second phase information of the second transmission frequency can be obtained from the first phase information of the first transmission frequency. An angle estimation algorithm can be used to estimate the angle based on this second phase information. Different angle estimation algorithms can be selected based on the actual test scenario, accuracy requirements, and computing resources. For example, the selected angle estimation algorithm can be digital beamforming, deterministic maximum likelihood estimation, minimum variance distortionless response, or multiple signal classification, etc., without limitation.

[0046] That is, a list of center frequencies for radar transmission frequencies can be constructed using a preset frequency hopping interval Δf and the number of frequency hopping N. The center frequency of the radar transmission waveform in the list can be f. c1 ... f cN The radar randomly varies among N frequencies. In calibration mode, to save on-chip storage resources and improve calibration efficiency, any center frequency is selected from the center frequency list as the first transmission frequency. Channel phase information at different angles is acquired using this first transmission frequency and stored in the radar. In calibration mode, the radar retrieves the first phase information at a preset angle from the stored channel phase information. By constructing a phase information expression, the second phase information for the second transmission frequency is obtained based on this expression and the first phase information. An angle estimation algorithm is then used to estimate the angle based on the second phase information. The final estimated target angle information can be output to vehicle navigation systems, obstacle detection systems, or target detection systems, but is not limited to these applications, thereby effectively improving the accuracy of vehicle navigation systems, obstacle detection systems, and target detection systems.

[0047] In some embodiments, obtaining the first transmission frequency of the radar calibration mode based on the center frequency list includes: selecting any center frequency from the center frequency list as the first transmission frequency of the radar calibration mode.

[0048] The center frequency list mainly includes N center frequencies with N hopping frequencies, and the frequency difference between adjacent frequencies is Δf. In other words, the center frequencies in the center frequency list mainly include f. c1 ... f cN Choose any one of the center frequencies from the list as the transmission frequency for the calibration process, i.e., the first transmission frequency f. ciThose skilled in the art can set the number of frequency hoppings and the frequency hopping interval according to the actual situation, and there are no restrictions here.

[0049] Preferably, obtaining first phase information at a preset angle in radar calibration mode based on the first transmission frequency includes:

[0050] Phase information at different angles in radar calibration mode is acquired based on the first transmission frequency and stored in the radar device; corresponding first phase information is acquired from the radar device based on a preset angle.

[0051] For example, from the center frequency list f c1 ... f cN Select f from c5 Using the first transmission frequency, phase information at different angles in radar calibration mode is obtained. For example, in radar calibration mode, based on the center frequency f... ci The obtained inter-channel prior phase information is as follows:

[0052]

[0053] The above expression specifies the phase information of M angles and N channels.

[0054] Preferably, obtaining second phase information of the second transmission frequency based on the first phase information includes:

[0055] A phase information expression is constructed based on the preset array element spacing, the preset angle, and the wavelength parameter of the transmission frequency; a first wavelength parameter of the first transmission frequency is obtained; and a first phase information expression is obtained based on the first wavelength parameter.

[0056] In the calculation of target angle information, not only is the element spacing required, but also the corresponding channel phase information is needed to construct a phase information expression. The first phase information expression can be mainly as follows:

[0057]

[0058] Where d represents the element spacing, φ1 represents the first phase information, λ1 is the wavelength parameter in radar calibration mode, j is the imaginary unit, and c is the speed of light in vacuum.

[0059] Preferably, obtaining the second phase information of the second transmission frequency based on the first phase information further includes: obtaining a second wavelength parameter of the second transmission frequency; obtaining a wavelength difference based on the first wavelength parameter and the second wavelength parameter; obtaining a second phase information expression based on the wavelength difference and the first phase information expression; and obtaining the second phase information based on the second phase information expression.

[0060] The expression for obtaining the second wavelength parameter can be mainly as follows:

[0061]

[0062] Among them, f c This is the second transmission frequency.

[0063] The main expressions for calculating the wavelength difference can be:

[0064] Δλ=λ2-λ1;

[0065] The second phase information expression obtained based on the wavelength difference and the first phase information expression can mainly be:

[0066]

[0067] Preferably, obtaining the second phase information of the second transmission frequency based on the first phase information further includes:

[0068] The final phase information expression is constructed based on the first phase information expression and the second phase information expression.

[0069] Among them, the second phase information expression can be mainly derived from... Convert to Further conversion Therefore, the final phase information expression can be mainly as follows:

[0070]

[0071]

[0072] The final phase information expression can be used in f ci First channel phase information of calibration mode at the first transmission frequency Get f c Second channel phase information at the second transmission frequency That is, based on the final phase information expression, the second channel phase information at the corresponding second transmission frequency can be obtained under frequency hopping operation and used for target angle estimation.

[0073] Preferably, estimating the target angle information in the radar operating mode based on the second phase information includes:

[0074] A phase difference is obtained based on the first phase information and the second phase information; the second phase information is phase compensated based on the phase difference using the final phase information expression to obtain the final phase information; and the target angle information in the radar operating mode is estimated based on the final phase information.

[0075] The expression for obtaining the phase difference based on the first phase information and the second phase information can be mainly as follows:

[0076]

[0077] Based on the phase difference, the second phase information is phase compensated using the final phase information expression, thereby avoiding the angle estimation error caused by the phase difference and significantly improving the accuracy of target angle estimation by the radar equipment in frequency hopping mode.

[0078] Example 2:

[0079] Please refer to Figure 2 This application also proposes a system using the target angle estimation method described in Embodiment 1, which mainly includes: a frequency acquisition module, a first phase information acquisition module, a second phase information acquisition module, and an angle estimation module.

[0080] The frequency acquisition module is used to acquire the second transmission frequency of the radar operating mode and the first transmission frequency of the radar calibration mode based on the center frequency list. The center frequency list can be constructed primarily by a preset frequency hopping interval and a preset number of frequency hopping, and the center frequencies included in the center frequency list can be mainly determined by f... c1 ... f cN The second transmission frequency is the transmission frequency in the current radar equipment operating mode; for example, the second transmission frequency could be f... c The first transmission frequency is a center frequency randomly selected from the list of center frequencies. For example, the first transmission frequency can be f. ci .

[0081] The first phase information acquisition module is used to acquire first phase information at a preset angle in radar calibration mode based on the first transmission frequency. In radar calibration mode, it acquires and stores phase information at multiple angles based on the first transmission frequency, and retrieves the first phase information corresponding to the preset angle from the stored phase information.

[0082] The second phase information acquisition module is used to acquire second phase information of the second transmission frequency based on the first phase information. Specifically, it can construct a phase information expression based on the first phase information, and then convert between the two phase information expressions to obtain the second phase information of the second transmission frequency.

[0083] Furthermore, the angle estimation module is used to estimate the target angle information under radar operating mode based on the second phase information. Specifically, the second phase information of the second transmission frequency can be obtained from the first phase information of the first transmission frequency. An angle estimation algorithm can be used to estimate the angle based on this second phase information. Different angle estimation algorithms can be selected based on the actual test scenario, accuracy requirements, and computing resources. For example, the selected angle estimation algorithms can mainly include digital beamforming, deterministic maximum likelihood estimation, minimum variance distortionless response, and multiple signal classification. Those skilled in the art can choose different angle estimation algorithms according to the actual situation without limitation. The finally estimated target angle information can be output to an in-vehicle navigation system, obstacle detection system, or target detection system, but is not limited to these, thereby effectively improving the accuracy of the in-vehicle navigation system, obstacle detection system, and target detection system.

[0084] Preferably, before the frequency acquisition module, a frequency list construction module is included, used to pre-construct a center frequency list based on a preset frequency hopping interval and a preset number of frequency hopping. The preset frequency hopping interval and preset number of frequency hopping can be set according to actual conditions and are not limited. To improve the radar's anti-interference capability, a frequency hopping transmission design is adopted, causing a jump in the center frequency of the electromagnetic waves emitted by the radar between adjacent frames. This further reduces the possibility of the radar being interfered with on actual roads. However, the frequency change causes phase information differences, leading to errors in target angle estimation. To avoid these errors, a center frequency list is constructed by pre-setting the frequency hopping interval and the number of frequency hopping, obtaining the phase information corresponding to the transmission frequency of the current radar operating mode for angle estimation, thereby improving the accuracy of angle estimation.

[0085] The angle estimation module further includes a final phase information acquisition module, which is used to acquire a final phase information expression based on the first phase information expression and the second phase information expression; acquire a phase difference based on the first phase information and the second phase information; and perform phase compensation processing on the second phase information based on the phase difference and the final phase information expression to obtain the final phase information.

[0086] Example 3:

[0087] This application also proposes a computer-readable storage medium storing computer-executable instructions; when the computer-executable instructions are executed by a control processor, they implement the target angle estimation method described in Embodiment 1.

[0088] The computer-readable storage medium can be implemented entirely or partially by software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented entirely or partially as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in the computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)).

[0089] In summary, this application effectively solves the technical problem of target angle estimation accuracy errors in frequency hopping design for anti-interference under conditions of mutual interference between radars in multiple operating states. By constructing a center frequency list with preset frequency hopping intervals and preset number of hopping cycles, the first transmission frequency of the radar calibration mode is obtained from this list. Due to the frequency hopping design, the radar transmission frequency can continuously change during operation, effectively reducing mutual interference between adjacent radars and minimizing target angle estimation errors. The second phase information of the second transmission frequency is obtained through the first phase information, effectively compensating for phase information differences caused by changes in radar transmission frequency, thereby further improving the accuracy of target angle information estimation.

[0090] In the several embodiments provided in this application, it will be understood that each block in the flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the figures. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved.

[0091] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause an electronic device to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0092] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this application. It should be understood that the above descriptions are merely specific embodiments of this application and are not intended to limit the scope of protection of this application. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application for those skilled in the art.

Claims

1. A target angle estimation method, characterized in that, A list of center frequencies is pre-constructed based on a preset frequency hopping interval and a preset number of frequency hopping. The target angle estimation method includes: Obtain the second transmission frequency of the radar operating mode and, based on the center frequency list, obtain the first transmission frequency of the radar calibration mode; Based on the first transmission frequency, first phase information at a preset angle in radar calibration mode is obtained; Based on the first phase information, obtain the second phase information of the second transmission frequency; And, based on the second phase information, estimate the target angle information in the radar operating mode; The process of obtaining second phase information for the second transmission frequency based on the first phase information includes: A phase information expression is constructed based on the pre-set array element spacing, preset angle, and wavelength parameters of the transmission frequency; Obtain the first wavelength parameter of the first transmission frequency; The first phase information expression is obtained based on the first wavelength parameter; Obtain the second wavelength parameter of the second transmission frequency, and obtain the wavelength difference based on the first wavelength parameter and the second wavelength parameter; A second phase information expression is obtained based on the wavelength difference and the first phase information expression, and the second phase information is obtained based on the second phase information expression.

2. The target angle estimation method according to claim 1, characterized in that, The step of obtaining the first transmission frequency of the radar calibration mode based on the center frequency list includes: Choose any one of the center frequencies from the list of center frequencies as the first transmission frequency of the radar calibration mode.

3. The target angle estimation method according to claim 1, characterized in that, Based on the first transmission frequency, first phase information at a preset angle in radar calibration mode is obtained, including: Phase information at different angles in radar calibration mode is acquired based on the first transmission frequency and stored in the radar device; The first phase information is obtained from the radar device based on a preset angle.

4. The target angle estimation method according to claim 3, characterized in that, Based on the first phase information, the second phase information of the second transmission frequency is obtained, which further includes: The final phase information expression is constructed based on the first phase information expression and the second phase information expression.

5. The target angle estimation method according to claim 4, characterized in that, The estimation of target angle information in the radar operating mode based on the second phase information includes: The phase difference is obtained based on the first phase information and the second phase information; Based on the phase difference, the second phase information is phase-compensated using the final phase information expression to obtain the final phase information; The target angle information in the radar operating mode is estimated based on the final phase information.

6. A system based on the target angle estimation method according to any one of claims 1-5, characterized in that, The system includes: The frequency acquisition module is used to acquire the second transmission frequency of the radar operating mode and the first transmission frequency of the radar calibration mode based on the center frequency list. The first phase information acquisition module is used to acquire first phase information at a preset angle in radar calibration mode based on the first transmission frequency. The second phase information acquisition module is used to acquire second phase information of the second transmission frequency based on the first phase information; And an angle estimation module, used to estimate the target angle information in the radar operating mode based on the second phase information; Before the frequency acquisition module, there is also a frequency list construction module, which is used to pre-build a center frequency list based on a preset frequency hopping interval and a preset number of frequency hopping. The angle estimation module further includes a final phase information acquisition module, which is used to acquire a final phase information expression based on the first phase information expression and the second phase information expression; acquire a phase difference based on the first phase information and the second phase information; and perform phase compensation processing on the second phase information based on the phase difference and the final phase information expression to obtain the final phase information.

7. A computer-readable storage medium storing computer-executable instructions, characterized in that, When the computer-executable instructions are executed by the control processor, they implement the target angle estimation method as described in any one of claims 1-5.

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